Kinematics equations

Natashi · Jan 2, 2022 · 773f661 · 773f661
1 parent 25a17c3
commit 773f661
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diff --git a/source/GcLib/gstd/GstdUtility.hpp b/source/GcLib/gstd/GstdUtility.hpp
@@ -415,6 +415,54 @@ namespace gstd {
 				return DifferentialLinear<T>;
 			}
 		};
+
+		class Kinematic {
+		public:
+			template<typename T>
+			static inline T U_VAD(T v, T a, T d) { return sqrt(v * v - 2 * a * d); }
+			template<typename T>
+			static inline T U_VAT(T v, T a, T t) { return v - a * t; }
+			template<typename T>
+			static inline T U_VDT(T v, T d, T t) { return 2 * d / t - v; }
+			template<typename T>
+			static inline T U_ADT(T a, T d, T t) { return d / t - a * t / 2; }
+
+			template<typename T>
+			static inline T V_UAD(T u, T a, T d) { return sqrt(u * u + 2 * a * d); }
+			template<typename T>
+			static inline T V_UAT(T u, T a, T t) { return u + a * t; }
+			template<typename T>
+			static inline T V_UDT(T u, T d, T t) { return 2 * d / t - u; }
+			template<typename T>
+			static inline T V_ADT(T a, T d, T t) { return d / t + a * t / 2; }
+
+			template<typename T>
+			static inline T A_UVD(T u, T v, T d) { return (v * v - u * u) / (2 * d); }
+			template<typename T>
+			static inline T A_UVT(T u, T v, T t) { return (v - u) / t; }
+			template<typename T>
+			static inline T A_UDT(T u, T d, T t) { return 2 * (d - u * t) / (t * t); }
+			template<typename T>
+			static inline T A_VDT(T v, T d, T t) { return 2 * (v * t - d) / (t * t); }
+
+			template<typename T>
+			static inline T D_UVA(T u, T v, T a) { return (v * v - u * u) / (2 * a); }
+			template<typename T>
+			static inline T D_UVT(T u, T v, T t) { return t / 2 * (u + v); }
+			template<typename T>
+			static inline T D_UAT(T u, T a, T t) { return u * t + a * t * t / 2; }
+			template<typename T>
+			static inline T D_VAT(T v, T a, T t) { return v * t - a * t * t / 2; }
+
+			template<typename T>
+			static inline T T_UVA(T u, T v, T a) { return (v - u) / a; }
+			template<typename T>
+			static inline T T_UVD(T u, T v, T d) { return 2 * d / (u + v); }
+			template<typename T>
+			static inline T T_UAD(T u, T a, T d) { return (-u + sqrt(u * u + 2 * a * d)) / a; }
+			template<typename T>
+			static inline T T_VAD(T v, T a, T d) { return (v - sqrt(v * v - 2 * a * d)) / a; }
+		};
 	};
 #endif
 

diff --git a/source/GcLib/gstd/ScriptClient.cpp b/source/GcLib/gstd/ScriptClient.cpp
@@ -189,6 +189,28 @@ static const std::vector<function> commonFunction = {
 	{ "Interpolate_X_AngleR", ScriptClientBase::Func_Interpolate_X_Angle<true>, 4 },
     { "Interpolate_X_Array", ScriptClientBase::Func_Interpolate_X_Array, 3 },
 
+	//Kinematics
+	{ "Kinematic_U_VAD", ScriptClientBase::Func_Kinematic<Math::Kinematic::U_VAD>, 3 },
+	{ "Kinematic_U_VAT", ScriptClientBase::Func_Kinematic<Math::Kinematic::U_VAT>, 3 },
+	{ "Kinematic_U_VDT", ScriptClientBase::Func_Kinematic<Math::Kinematic::U_VDT>, 3 },
+	{ "Kinematic_U_ADT", ScriptClientBase::Func_Kinematic<Math::Kinematic::U_ADT>, 3 },
+	{ "Kinematic_V_UAD", ScriptClientBase::Func_Kinematic<Math::Kinematic::V_UAD>, 3 },
+	{ "Kinematic_V_UAT", ScriptClientBase::Func_Kinematic<Math::Kinematic::V_UAT>, 3 },
+	{ "Kinematic_V_UDT", ScriptClientBase::Func_Kinematic<Math::Kinematic::V_UDT>, 3 },
+	{ "Kinematic_V_ADT", ScriptClientBase::Func_Kinematic<Math::Kinematic::V_ADT>, 3 },
+	{ "Kinematic_A_UVD", ScriptClientBase::Func_Kinematic<Math::Kinematic::A_UVD>, 3 },
+	{ "Kinematic_A_UVT", ScriptClientBase::Func_Kinematic<Math::Kinematic::A_UVT>, 3 },
+	{ "Kinematic_A_UDT", ScriptClientBase::Func_Kinematic<Math::Kinematic::A_UDT>, 3 },
+	{ "Kinematic_A_VDT", ScriptClientBase::Func_Kinematic<Math::Kinematic::A_VDT>, 3 },
+	{ "Kinematic_D_UVA", ScriptClientBase::Func_Kinematic<Math::Kinematic::D_UVA>, 3 },
+	{ "Kinematic_D_UVT", ScriptClientBase::Func_Kinematic<Math::Kinematic::D_UVT>, 3 },
+	{ "Kinematic_D_UAT", ScriptClientBase::Func_Kinematic<Math::Kinematic::D_UAT>, 3 },
+	{ "Kinematic_D_VAT", ScriptClientBase::Func_Kinematic<Math::Kinematic::D_VAT>, 3 },
+	{ "Kinematic_T_UVA", ScriptClientBase::Func_Kinematic<Math::Kinematic::T_UVA>, 3 },
+	{ "Kinematic_T_UVD", ScriptClientBase::Func_Kinematic<Math::Kinematic::T_UVD>, 3 },
+	{ "Kinematic_T_UAD", ScriptClientBase::Func_Kinematic<Math::Kinematic::T_UAD>, 3 },
+	{ "Kinematic_T_VAD", ScriptClientBase::Func_Kinematic<Math::Kinematic::T_VAD>, 3 },
+
 	//Rotation
 	{ "Rotate2D", ScriptClientBase::Func_Rotate2D, 3 },
 	{ "Rotate2D", ScriptClientBase::Func_Rotate2D, 5 },
@@ -1449,6 +1471,11 @@ value ScriptClientBase::Func_Interpolate_X_Array(script_machine* machine, int ar
 	return _ScriptValueLerp(machine, &arr[from], &arr[to], x, lerpFunc);
 }
 
+template<double (*funcKinematic)(double, double, double)>
+value ScriptClientBase::Func_Kinematic(script_machine* machine, int argc, const value* argv) {
+	return CreateRealValue(funcKinematic(argv[0].as_real(), argv[1].as_real(), argv[2].as_real()));
+}
+
 value ScriptClientBase::Func_Rotate2D(script_machine* machine, int argc, const value* argv) {
 	double pos[2] = { argv[0].as_real(), argv[1].as_real() };
 	double ang = argv[2].as_real();

diff --git a/source/GcLib/gstd/ScriptClient.hpp b/source/GcLib/gstd/ScriptClient.hpp
@@ -312,6 +312,10 @@ namespace gstd {
 		DNH_FUNCAPI_DECL_(Func_Interpolate_X_Angle);
 		DNH_FUNCAPI_DECL_(Func_Interpolate_X_Array);
 
+		//Math functions; kinematics
+		template<double (*funcKinematic)(double, double, double)>
+		DNH_FUNCAPI_DECL_(Func_Kinematic);
+
 		//Math functions; rotation
 		DNH_FUNCAPI_DECL_(Func_Rotate2D);
 		DNH_FUNCAPI_DECL_(Func_Rotate3D);